JP6662907B2 - エンコーダ、コード化方法、ならびにそれらを用いたシステム及び装置 - Google Patents
エンコーダ、コード化方法、ならびにそれらを用いたシステム及び装置 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34776—Absolute encoders with analogue or digital scales
- G01D5/34792—Absolute encoders with analogue or digital scales with only digital scales or both digital and incremental scales
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/246—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains by varying the duration of individual pulses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
- G01D5/2497—Absolute encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
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- Transmission And Conversion Of Sensor Element Output (AREA)
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Description
本出願は、2015年4月30日に出願の米国仮出願第62/155,392号、2015年5月2日に出願の米国仮出願第62/156,252号、及び2015年5月14日に出願の米国仮出願第62/161,611号のそれぞれに関し、それらに対する優先権及び利点を主張するものであり、これらの米国仮出願のそれぞれの開示は、その全体が参照によってあらゆる目的のために本明細書に組み込まれる。
ある特定の実施形態について、以下の添付図面を参照して記載する。
コード体系の可能な一般化について以下に記載する。ここで、要素は、2つの異なる種類(ノッチまたはギャップ)のいずれか一方であることにもはや制限されないが、その代わり、識別可能な種類の数はある数Ntに等しい。物理的要素及び検出機構の観点では、このことは、単に「全か無か」ではなく一組の解像可能な信号減衰値を有することに対応する。例えば、様々な厚さの要素と組み合わせてX線減衰検出を行う設定により、2つ以上の異なる種類の要素を得ることができる。
(既に検討した)Nt=2の場合には2が得られる。これにより、任意のNtに対して方程式(3)〜(5)の一般化が可能となる。ここで、要素の(最大)数に対する式は以下となる。
参考文献2:De Bruijn,N.G.及びVan Aardenne−Ehrenfest,T.(1951)−−Circuits and trees in oriented linear graphs−−Simon Stevin−−v.28,p.203−217;
参考文献3:Makino,Shigeru(1994)−−Absolute encoder−−日本特許JPH06347288(A)−−1994年4月14日出願、1994年12月20日発行;
参考文献4:Agrawal,Amit及びThornton,Jay(2013)−−Self−Calibrating Single Track Absolute Rotary Encoder−−米国特許US2013253870(A1)−−2013年5月21出願、2013年9月26日発行;
参考文献5:Urabe,Hideki(2009)−−Optical Absolute Rotary Encoder−−米国特許US2009108188(A1)−−2007年9月28日出願、2009年4月30日発行;
参考文献6:Petriu,E.M.(1985)−−Abolute−type pseudorandom shaft encoder with any desired resolution−−Electronics Letters,v.21;
参考文献7:i Fuertes,J.;Balle,B.及びVentura,E.(2008)−−Absolute−Type Shaft Encoding Using LFSR Sequences With a Prescribed Length−−Instrumentation and Measurement,IEEE Transactionson,v.57,i.5,p.915−922;
参考文献8:Fuertes,J.;Balle,B.及びVentura,E.(2009)−−Single−tracked shaft encoders with LFSR sequences of low combinatorial complexity−−invited post ICM09 paper;
参考文献9:Schwartz,M.及びEtzion,T.(1999)−−The Structure of Single−Track Gray Codes−−IEEE Transactions on Information Theory,v.45,i.7,p.2383−2396;
参考文献10:Yinghao,Tan;Bo,Yuan及びZibo,Meng(2012)−−Absolute shaft angle encoding system based on array detector−−中国特許CN102322882(A)−−2011年6月2日出願、2012年1月18日発行
参考文献11:Zhengang,Wang(2008)−−Single−code track absolute angle coded circle and encoder using the same−−中国特許CN101153808(A)−−2007年9月19日出願、2008年4月2日発行;ならびに
参考文献12:Litao,Liang(2009)−−Single−code channel absolute position encoding method−−中国特許CN101476902(A)−−2009年1月13日出願、2009年7月8日発行
本明細書に開示された例の要素を紹介するとき、冠詞「a」、「an」、「the」及び「said(前記)」は、1つ以上の要素が存在することを意味するように意図される。用語「comprising(備える)」、「including(含む)」及び「having(有する)」は、非限定的であることを意図したものであり、列挙された要素以外の追加要素があってもよいことを意味する。本開示の利点を前提として、各例の各種要素を他の例の各種要素と交換または置換できることが当業者によって認識されよう。
Claims (20)
- オートサンプラトレイに結合するように構成されたエンコーダであって、前記エンコーダは、前記エンコーダ上の複数の配列された識別可能な要素を含み、前記識別可能な要素は、前記エンコーダ上の前記複数の配列された識別可能な特徴のサブセットに対して生成されたコードに基づいて位置を識別するために検出し、使用することができ、前記配列された識別可能な要素のそれぞれは、個別の定義された長さを有し、前記長さは、前記コードを生成するために利用され、前記サブセットに対して生成される前記コードはデブルーイン系列を用いて生成され、前記オートサンプラトレイは、複数の個別の場所を有し、前記エンコーダは、前記オートサンプラトレイの前記複数の個別の場所のうちの個々の場所を特定するために前記オートサンプラトレイの位置を決定するために用いられる、エンコーダ。
- 前記コードは、2つの混交したサブセットに分割される、請求項1に記載の装置。
- 前記2つの混交したサブセットのうちの一方は奇数サブセットであり、前記2つの混交したサブセットのうちの他方は偶数サブセットである、請求項2に記載の装置。
- 前記奇数サブセットに対して生成される各コードは一意のコードである、請求項3に記載の装置。
- 前記エンコーダと前記オートサンプラトレイとは、各々、ステッパーモータに結合される、請求項1に記載の装置。
- 前記サブセットに対して生成された前記コードは2つの混交したデブルーイン系列を用いて生成され、前記装置は、さらに、前記ステッパーモータが動いたステップの数をカウントするように構成されたプロセッサを含む、請求項5に記載の装置。
- 前記2つの混交したデブルーイン系列は等しい長さである、請求項6に記載の装置。
- 前記サブセットに対して生成される前記コードは、混交したデブルーイングラフを用いて、かつ組み合わせた長さを有する一組の閉ループを取り除くことによって生成される、請求項1に記載の装置。
- 前記コードは、前記オートサンプラトレイの選択された場所に対応する、請求項1に記載の装置。
- 前記選択された場所はオートサンプラトレイの試料保持位置である、請求項9に記載の装置。
- 前記識別可能な特徴はライン及びギャップであり、前記コードは、前記エンコーダ上の前記ライン及び前記ギャップの長さに基づいて割り当てられる、請求項1に記載の装置。
- 前記装置は、光学センサを含み、前記ラインは、前記光学センサからの光学信号を遮断するように構成されており、前記ギャップは、前記光学センサからの光学信号の通過を可能にするように構成されている、請求項11に記載の装置。
- 前記光学センサは、前記光学信号が遮断され、通過するために用いられる時間の長さを利用して、前記サブセットの前記コードを決定するように構成される、請求項12に記載の装置。
- 前記光学信号の第1の長さを前記コードで0と定義し、前記光学信号の前記第1の長さより長い、前記光学信号の第2の長さを前記コードで1と定義する、請求項13に記載の装置。
- 前記エンコーダ上の前記識別可能な特徴を検出することによって前記コードを読み取るように構成された単一の検出器を更に備える、請求項1に記載の装置。
- 識別可能な特徴の前記サブセットを提供するために、定義されたパターンで前記エンコーダ上にライン及びギャップが存在する、請求項15に記載の装置。
- 前記単一の検出器は光学検出器である、請求項15に記載の装置。
- 前記光学検出器は光結合素子を含む、請求項17に記載の装置。
- 前記検出器は、ギャップが前記検出器に隣接して位置付けられたときには光を受光するように構成され、ラインが前記検出器に隣接して位置付けられたときには光を受光しないように構成されている、請求項17に記載の装置。
- 前記エンコーダは、金属板、プラスチック板、ガラス板、セラミック板、線状支持体、C型支持体、または金属、プラスチック、ガラス、剛性もしくは可撓性材料を含む支持体として構成されている、請求項1に記載の装置。
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US201562161611P | 2015-05-14 | 2015-05-14 | |
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PCT/IB2016/000566 WO2016174517A1 (en) | 2015-04-30 | 2016-05-02 | Encoders, encoding methods and systems and devices using them |
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JP2018520339A5 JP2018520339A5 (ja) | 2019-06-27 |
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CN (1) | CN209961238U (ja) |
CA (1) | CA2984524A1 (ja) |
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US10367430B2 (en) | 2016-01-11 | 2019-07-30 | Infineon Technologies Ag | System and method for a variable flow transducer |
US10161970B2 (en) * | 2017-03-27 | 2018-12-25 | Rockwell Automation Technologies, Inc. | Sequence based mover identification |
CN107621822B (zh) * | 2017-08-30 | 2021-01-05 | 杭州为诺智能科技有限公司 | 一种磁条码及其读取方法和磁导航机器人的路径规划方法 |
US10914612B2 (en) | 2018-01-29 | 2021-02-09 | Faro Technologies, Inc. | Indexed optical encoder |
EP3693708A1 (de) * | 2019-02-08 | 2020-08-12 | Jungheinrich Aktiengesellschaft | Zylinder mit einer kolbenstange und einem optischen positionsmesser |
US11275057B2 (en) | 2019-04-03 | 2022-03-15 | Infineon Technologies Ag | Photoacoustic sensor valve |
CN112444277A (zh) * | 2019-09-04 | 2021-03-05 | 台达电子工业股份有限公司 | 光学反射部件及其适用的光学编码器 |
JP7234087B2 (ja) * | 2019-10-09 | 2023-03-07 | Dmg森精機株式会社 | アブソリュートリニアエンコーダ |
TWI722886B (zh) * | 2020-04-30 | 2021-03-21 | 國立陽明交通大學 | 旋轉式碼盤及其設計方法 |
WO2022087295A1 (en) * | 2020-10-23 | 2022-04-28 | Psiquantum, Corp. | De bruijn switch |
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JP3093924B2 (ja) | 1993-04-16 | 2000-10-03 | 株式会社リサーチ | アブソリュートエンコーダ |
DE4436784B4 (de) | 1993-10-26 | 2005-08-18 | Carl Zeiss | Absolutes Positionsmeßsystem |
US5682026A (en) * | 1996-03-01 | 1997-10-28 | Waters Investments Limited | Multiple carousel carrier and carousel handling mechanism |
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EP3289316A1 (en) | 2018-03-07 |
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